CN103903253A - Mobile terminal positioning method and system - Google Patents
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- CN103903253A CN103903253ACN201210587354.1ACN201210587354ACN103903253ACN 103903253 ACN103903253 ACN 103903253ACN 201210587354 ACN201210587354 ACN 201210587354ACN 103903253 ACN103903253 ACN 103903253A
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Abstract
Description
Technical field
The present invention relates to sensing control field, particularly relate to a kind of movable termination localization method and system.
Background technology
Along with the development of electronic technology, the function of electronic equipment is also more and more various.In prior art, there is a class of electronic devices to be provided with the first-class image acquisition units of shooting, can obtain external image information, thereby realize the detection of environment to external world.This class of electronic devices is also referred to as movable termination.
In order better to represent the external environment information that movable termination detects, can control movable termination and carry out map structuring according to the image information of the external environment detecting.Complete after map structuring, can obtain the planimetric map of external environment.In the process of map structuring, suppose the A point of movable termination from room, in room, every movement one segment distance, all can construct corresponding cartographic information.When movable termination after a mobile circle, while again getting back to A point, if the process of map structuring is correct, should obtain a complete planimetric map about this room in room.
But, movable termination localization method of the prior art, whether can not accurately judge the residing position of movable termination is the position that this movable termination once arrived, therefore, movable termination localization method of the prior art can not be drawn out the plane picture information of external environment exactly.
Summary of the invention
The object of this invention is to provide a kind of movable termination localization method and system, whether be position that this movable termination once arrived, and then draw out exactly the plane picture information of external environment if can accurately judge the residing position of movable termination.
For achieving the above object, the invention provides following scheme:
A kind of movable termination localization method, described movable termination is provided with image acquisition units, and described method comprises:
Obtain the first image information by described image acquisition units, described the first image information is for representing the external environment in described image acquisition units acquisition range;
Extract the characteristic information in described the first image information;
Judge described characteristic information whether with pre-stored image information in characteristic information match, obtain the first judged result;
In the time that described the first judged result represents that characteristic information in described characteristic information and pre-stored image information matches, determine described movable termination present position.
Optionally, described method also comprises:
In the time that described the first judged result represents that described characteristic information does not mate with the characteristic information in pre-stored image information, according to described the first image information, calculate position and the attitude information of described movable termination;
According to described position and attitude information, carry out map structuring.
Optionally, described pre-stored image information is to generate in the time that described movable termination arrives different positions, and described position has a upper position and the next position adjacent with described position, the pre-stored image information difference that different positions is corresponding,
Described method also comprises:
In the time that described the first judged result represents that characteristic information in described characteristic information and pre-stored image information matches, determine the primary importance that described movable termination corresponding to described pre-stored image information once arrived;
Obtain corresponding the second pre-stored image information of the second place adjacent with described primary importance, wherein, the described second place is a upper position adjacent with described primary importance;
Obtain the four position corresponding four pre-stored image information adjacent with the current present position of described movable termination, wherein, described the 4th position is a upper position adjacent with the current present position of described movable termination;
Judge that whether described the second pre-stored image information matches with described the 4th pre-stored image information, obtains the second judged result;
When described the second judged result is when being, determine that described movable termination once arrived current present position.
Optionally, described pre-stored image information is to generate in the time that described movable termination arrives different positions, and described position has a upper position and the next position adjacent with described position, the pre-stored image information difference that different positions is corresponding,
Described method also comprises:
In the time that described the first judged result represents that characteristic information in described characteristic information and pre-stored image information matches, determine the primary importance that described movable termination corresponding to described pre-stored image information once arrived;
Obtain corresponding the 3rd pre-stored image information of corresponding the second pre-stored image information of the second place adjacent with described primary importance and the 3rd position, wherein, the described second place is a upper position adjacent with described primary importance, and described the 3rd position is the next position adjacent with described primary importance;
Obtain four position corresponding four pre-stored image information and five position corresponding five image information adjacent with the current present position of described movable termination, wherein, described the 4th position is a upper position adjacent with the current present position of described movable termination, and described the 5th position is the next position adjacent with the current present position of described movable termination;
Judge whether described the second pre-stored image information matches with described the 4th pre-stored image information, and whether described the 3rd pre-stored image information match with described the 5th image information, obtain the 3rd judged result;
When described the 3rd judged result is when being, determine that described movable termination once arrived current present position.
Optionally, the attitude information of the described movable termination of described calculating, comprising:
According to described the first image information, calculate described movable termination image acquisition units towards.
A kind of movable termination positioning system, described movable termination is provided with image acquisition units, and described system comprises:
The first image information acquisition unit, for obtaining the first image information by described image acquisition units, described the first image information is for representing the external environment in described image acquisition units acquisition range;
Feature information extraction unit, for extracting the characteristic information of described the first image information;
The first judging unit, for judging that whether described characteristic information matches with the characteristic information of pre-stored image information, obtains the first judged result;
Position determination unit, in the time that described the first judged result represents that the characteristic information of described characteristic information and pre-stored image information matches, determines described movable termination present position.
Optionally, also comprise:
Pose computing unit, when representing that when described the first judged result described characteristic information does not mate with the characteristic information of pre-stored image information, according to described the first image information, calculates position and the attitude information of described movable termination;
Map structuring unit, for according to described position and attitude information, carries out map structuring.
Optionally, described pre-stored image information is to generate in the time that described movable termination arrives different positions, and described position has a upper position and the next position adjacent with described position, the pre-stored image information difference that different positions is corresponding,
Described system also comprises:
Primary importance determining unit, in the time that described the first judged result represents that the characteristic information of described characteristic information and pre-stored image information matches, determines the primary importance that described movable termination corresponding to described pre-stored image information once arrived;
The second pre-stored image information acquisition unit, for obtaining corresponding the second pre-stored image information of the second place adjacent with described primary importance, wherein, the described second place is a upper position adjacent with described primary importance;
The 4th pre-stored image information acquisition unit, for obtaining the four position corresponding four pre-stored image information adjacent with the current present position of described movable termination, wherein, described the 4th position is a upper position adjacent with the current present position of described movable termination;
The second judging unit, for judging that whether described the second pre-stored image information matches with described the 4th pre-stored image information, obtains the second judged result;
The first closed loop determining unit, for when described the second judged result is when being, determines that described movable termination once arrived current present position.
Optionally, described pre-stored image information is to generate in the time that described movable termination arrives different positions, and described position has a upper position and the next position adjacent with described position, the pre-stored image information difference that different positions is corresponding,
Described system also comprises:
Second place determining unit, in the time that described the first judged result represents that the characteristic information of described characteristic information and pre-stored image information matches, determines the primary importance that described movable termination corresponding to described pre-stored image information once arrived;
The two or three image information acquisition unit, for obtaining corresponding the 3rd pre-stored image information of corresponding the second pre-stored image information of the second place adjacent with described primary importance and the 3rd position, wherein, the described second place is a upper position adjacent with described primary importance, and described the 3rd position is the next position adjacent with described primary importance;
The four or five image information acquisition unit, for obtaining four position corresponding four pre-stored image information and five position corresponding five image information adjacent with the current present position of described movable termination, wherein, described the 4th position is a upper position adjacent with the current present position of described movable termination, and described the 5th position is the next position adjacent with the current present position of described movable termination;
The 3rd judging unit, for judging whether described the second pre-stored image information matches with described the 4th pre-stored image information, and whether described the 3rd pre-stored image information match with described the 5th image information, obtains the 3rd judged result;
The second closed loop determining unit, for when described the 3rd judged result is when being, determines that described movable termination once arrived current present position.
Optionally, described pose computing unit comprises:
Towards computation subunit, for according to described the first image information, calculate described movable termination image acquisition units towards.
According to specific embodiment provided by the invention, the invention discloses following technique effect:
Movable termination localization method and the system of the present embodiment, gather by image acquisition units the first image information that movable termination gets in present position, described the first image information is mated with pre-stored image information, judge whether the pre-stored image information that exists characteristic information identical with described the first image information, if existed, can determine accordingly the present position of described movable termination, whether can accurately judge the residing position of movable termination is the position that this movable termination once arrived, and then draw out exactly the plane picture information of external environment.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the process flow diagram of movable termination localization method embodiment 1 of the present invention;
Fig. 2 is the process flow diagram of movable termination localization method embodiment 2 of the present invention;
Fig. 3 is the process flow diagram of movable termination localization method embodiment 3 of the present invention;
Fig. 4 is the process flow diagram of movable termination localization method embodiment 4 of the present invention;
Fig. 5 is the structural drawing of described movable termination positioning system embodiment 1;
Fig. 6 is the structural drawing of described movable termination positioning system embodiment 2;
Fig. 7 is the structural drawing of described movable termination positioning system embodiment 3.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
The invention discloses a kind of movable termination localization method.Wherein, described movable termination can be the robot with external information detecting function.Described movable termination can have external information collecting unit.
Here external information collecting unit can comprise the image acquisition units based on vision location, and use characteristic point carries out information comparison, and the external information of collection comprises the image information of external information.Certainly, can also use laser instrument here, infrared distance measurement, sonar and radar etc. are in order to the sensor of the extraneous structure of perception and (or) color.Different sensors is similar in collection external unit.Here repeat no more.
Described movable termination can move controllably in external environment condition.Described movable termination, in moving process, can obtain outside image information by image acquisition units, and then carries out map structuring.
Fig. 1 is the process flow diagram of movable termination localization method embodiment 1 of the present invention.As shown in Figure 1, described method can comprise:
Step 101: obtain the first image information by described image acquisition units, described the first image information is for representing the external environment in described image acquisition units acquisition range;
Can be by described image acquisition units Real-time Obtaining the first image information; Also can judge whether described movable termination moves, if moved, obtain image information that current described image acquisition units gets as the first image information.
Step 102: extract the characteristic information in described the first image information;
Described characteristic information refers in the image that described image information represents, can play the information of remarkable mark action.For example, in the first image information that described movable termination gets in certain room, there is a chair and a desk, so described Cain and Abel just can be used as the characteristic information in this first image information, or, the characteristic information using the corner angle of described chair or desk in the first image information.
Step 103: judge described characteristic information whether with pre-stored image information in characteristic information match, obtain the first judged result;
Described pre-stored image information is the image information that described movable termination arrives at the position acquisition once arriving.In described pre-stored image information, also there is characteristic information.In each embodiment of the present invention, in each two field picture, can extract characteristic information.These characteristic informations may be identical, may be also different.
Step 104: in the time that described the first judged result represents that characteristic information in described characteristic information and pre-stored image information matches, determine described movable termination present position.
In the time that described the first judged result represents that characteristic information in described characteristic information and pre-stored image information matches, represent image information that described movable termination gets in current location and described movable termination the position acquisition once arriving to image information be identical to a great extent.In other words, this represents that it is to have moved to the position once arriving that described movable termination has very large possibility.
Like this, in moving process before, carry out the topomap that map structuring obtains according to described movable termination, just can determine the residing position of described movable termination.
In sum, the movable termination localization method of the present embodiment, gather by image acquisition units the first image information that movable termination gets in present position, described the first image information is mated with pre-stored image information, judge whether the pre-stored image information that exists characteristic information identical with described the first image information, if existed, can determine accordingly the present position of described movable termination, whether can accurately judge the residing position of movable termination is the position that this movable termination once arrived, and then draw out exactly the plane picture information of external environment.
Fig. 2 is the process flow diagram of movable termination localization method embodiment 2 of the present invention.As shown in Figure 2, described method can comprise:
Step 201: obtain the first image information by described image acquisition units, described the first image information is for representing the external environment in described image acquisition units acquisition range;
Step 202: extract the characteristic information in described the first image information;
Step 203: judge described characteristic information whether with pre-stored image information in characteristic information match, obtain the first judged result;
Step 204: in the time that described the first judged result represents that characteristic information in described characteristic information and pre-stored image information matches, determine described movable termination present position.
Step 205: in the time that described the first judged result represents that described characteristic information does not mate with the characteristic information in pre-stored image information, according to described the first image information, calculate position and the attitude information of described movable termination;
The position of described movable termination can refer to the position of described movable termination in external environment.The attitude of described movable termination, can refer to image acquisition units on described movable termination towards.The attitude information of the described movable termination of described calculating, can comprise: according to described the first image information, calculate described movable termination image acquisition units towards.
For some concrete environment, described movable termination can generate a lot of image informations under this environment.And, on same position, due to described movable termination towards difference, so the external information of a certain external environment that external information collecting unit collects is not identical yet.For example, described movable termination, in the time of same position, can get the different images information of external environment under same position at original place rotating 360 degrees.Suppose that 30 ° of every rotations just can generate a frame image information, just can generate so 12 frame image informations at same position place.
Step 206: according to described position and attitude information, carry out map structuring.
Fig. 3 is the process flow diagram of movable termination localization method embodiment 3 of the present invention.In the present embodiment, described pre-stored image information is to generate in the time that described movable termination arrives different positions, and described position has a upper position and the next position adjacent with described position, the pre-stored image information difference that different positions is corresponding.As shown in Figure 3, described method can comprise:
Step 301: obtain the first image information by described image acquisition units, described the first image information is for representing the external environment in described image acquisition units acquisition range;
Step 302: extract the characteristic information in described the first image information;
Step 303: judge described characteristic information whether with pre-stored image information in characteristic information match, obtain the first judged result;
Step 304: in the time that described the first judged result represents that characteristic information in described characteristic information and pre-stored image information matches, determine the primary importance that described movable termination corresponding to described pre-stored image information once arrived;
Described primary importance is exactly the corresponding position of pre-stored image information of successfully carrying out characteristic matching information (because described movable termination can generate in each position pre-stored image information that should position).Described pre-stored image information of successfully carrying out characteristic matching information, the characteristic information of the image information getting with the current present position of described movable termination matches.
Step 305: obtain corresponding the second pre-stored image information of the second place adjacent with described primary importance, wherein, the described second place is a upper position adjacent with described primary importance;
Due to new position of the every arrival of described movable termination, just can generate corresponding image information, so can be numbered the image information of diverse location.Each position can be called a node.Suppose that the position that current described movable termination moves to is the 100th node.Described primary importance is the 2nd node, and the so described second place is exactly the 1st node.
Step 306: obtain the four position corresponding four pre-stored image information adjacent with the current present position of described movable termination, wherein, described the 4th position is a upper position adjacent with the current present position of described movable termination;
According to hypothesis above, described the 4th position can be just a upper position of the 100th node, i.e. the 99th node.
Step 307: judge that whether described the second pre-stored image information matches with described the 4th pre-stored image information, obtains the second judged result;
In this step, can be just judgement and the 1st the second image information that node is corresponding, whether with, with the 99th the 4th image information that node is corresponding, match.
Step 308: when described the second judged result is when being, determine that described movable termination once arrived current present position.
In the present embodiment, when the first image information identifying in pre-stored image information, when the characteristic information of the image information getting in current location with described movable termination matches, further the image information of the second place and the 4th position is carried out to characteristic matching, because the described second place is a upper position adjacent with described primary importance, described the 4th position is a upper position adjacent with the current present position of described movable termination, so, according to the continuity of described movable termination motion track, can know, in the time that whether described the second pre-stored image information matches with described the 4th pre-stored image information, can more determine that described movable termination once arrived current present position.
Fig. 4 is the process flow diagram of movable termination localization method embodiment 4 of the present invention.In the present embodiment, described pre-stored image information is to generate in the time that described movable termination arrives different positions, and described position has a upper position and the next position adjacent with described position, the pre-stored image information difference that different positions is corresponding.As shown in Figure 4, described method can comprise:
Step 401: obtain the first image information by described image acquisition units, described the first image information is for representing the external environment in described image acquisition units acquisition range;
Step 402: extract the characteristic information in described the first image information;
Step 403: judge described characteristic information whether with pre-stored image information in characteristic information match, obtain the first judged result;
Step 404: in the time that described the first judged result represents that characteristic information in described characteristic information and pre-stored image information matches, determine the primary importance that described movable termination corresponding to described pre-stored image information once arrived;
Step 405: obtain corresponding the 3rd pre-stored image information of corresponding the second pre-stored image information of the second place adjacent with described primary importance and the 3rd position, wherein, the described second place is a upper position adjacent with described primary importance, and described the 3rd position is the next position adjacent with described primary importance;
Step 406: obtain four position corresponding four pre-stored image information and five position corresponding five image information adjacent with the current present position of described movable termination, wherein, described the 4th position is a upper position adjacent with the current present position of described movable termination, and described the 5th position is the next position adjacent with the current present position of described movable termination;
Step 407: judge whether described the second pre-stored image information matches with described the 4th pre-stored image information, and whether described the 3rd pre-stored image information match with described the 5th image information, obtain the 3rd judged result;
Step 408: when described the 3rd judged result is when being, determine that described movable termination once arrived current present position.
In the present embodiment, when the first image information identifying in pre-stored image information, when the characteristic information of the image information getting in current location with described movable termination matches, further the image information of the image information to the second place and the 4th position and the 3rd position and the 5th position is carried out characteristic matching, because the described second place is a upper position adjacent with described primary importance, described the 4th position is a upper position adjacent with the current present position of described movable termination, described the 3rd position is the next position adjacent with described primary importance, described the 5th position is the next position adjacent with the current present position of described movable termination, so, according to the continuity of described movable termination motion track, can know, when whether described the second pre-stored image information matches with described the 4th pre-stored image information, and when whether described the 3rd pre-stored image information matches with described the 5th image information, can more determine that described movable termination once arrived current present position.
The invention also discloses a kind of movable termination positioning system.Described movable termination is provided with image acquisition units.
Fig. 5 is the structural drawing of described movable termination positioning system embodiment 1.As shown in Figure 5, described system can comprise:
The first imageinformation acquisition unit 501, for obtaining the first image information by described image acquisition units, described the first image information is for representing the external environment in described image acquisition units acquisition range;
Featureinformation extraction unit 502, for extracting the characteristic information of described the first image information;
Thefirst judging unit 503, for judging that whether described characteristic information matches with the characteristic information of pre-stored image information, obtains the first judged result;
Wherein, described system can also comprise:
Pose computingunit 505, when representing that when described the first judged result described characteristic information does not mate with the characteristic information of pre-stored image information, according to described the first image information, calculates position and the attitude information of described movable termination;
Wherein, described pose computing unit can comprise:
Towards computation subunit, for according to described the first image information, calculate described movable termination image acquisition units towards.
In sum, the movable termination positioning system of the present embodiment, gather by image acquisition units the first image information that movable termination gets in present position, described the first image information is mated with pre-stored image information, judge whether the pre-stored image information that exists characteristic information identical with described the first image information, if existed, can determine accordingly the present position of described movable termination, whether can accurately judge the residing position of movable termination is the position that this movable termination once arrived, and then draw out exactly the plane picture information of external environment.
Fig. 6 is the structural drawing of described movable termination positioning system embodiment 2.In the present embodiment, described pre-stored image information is to generate in the time that described movable termination arrives different positions, and described position has a upper position and the next position adjacent with described position, the pre-stored image information difference that different positions is corresponding.As shown in Figure 6, described system can comprise:
The first imageinformation acquisition unit 501, for obtaining the first image information by described image acquisition units, described the first image information is for representing the external environment in described image acquisition units acquisition range;
Featureinformation extraction unit 502, for extracting the characteristic information of described the first image information;
Thefirst judging unit 503, for judging that whether described characteristic information matches with the characteristic information of pre-stored image information, obtains the first judged result;
Primaryimportance determining unit 601, in the time that described the first judged result represents that the characteristic information of described characteristic information and pre-stored image information matches, determines the primary importance that described movable termination corresponding to described pre-stored image information once arrived;
The second pre-stored imageinformation acquisition unit 602, for obtaining corresponding the second pre-stored image information of the second place adjacent with described primary importance, wherein, the described second place is a upper position adjacent with described primary importance;
The 4th pre-stored imageinformation acquisition unit 603, for obtaining the four position corresponding four pre-stored image information adjacent with the current present position of described movable termination, wherein, described the 4th position is a upper position adjacent with the current present position of described movable termination;
Thesecond judging unit 604, for judging that whether described the second pre-stored image information matches with described the 4th pre-stored image information, obtains the second judged result;
The first closedloop determining unit 605, for when described the second judged result is when being, determines that described movable termination once arrived current present position.
Fig. 7 is the structural drawing of described movable termination positioning system embodiment 3.In the present embodiment, described pre-stored image information is to generate in the time that described movable termination arrives different positions, and described position has a upper position and the next position adjacent with described position, the pre-stored image information difference that different positions is corresponding.As shown in Figure 7, described system can comprise:
The first imageinformation acquisition unit 501, for obtaining the first image information by described image acquisition units, described the first image information is for representing the external environment in described image acquisition units acquisition range;
Featureinformation extraction unit 502, for extracting the characteristic information of described the first image information;
Thefirst judging unit 503, for judging that whether described characteristic information matches with the characteristic information of pre-stored image information, obtains the first judged result;
Secondplace determining unit 701, in the time that described the first judged result represents that the characteristic information of described characteristic information and pre-stored image information matches, determines the primary importance that described movable termination corresponding to described pre-stored image information once arrived;
The two or three imageinformation acquisition unit 702, for obtaining corresponding the 3rd pre-stored image information of corresponding the second pre-stored image information of the second place adjacent with described primary importance and the 3rd position, wherein, the described second place is a upper position adjacent with described primary importance, and described the 3rd position is the next position adjacent with described primary importance;
The four or five imageinformation acquisition unit 703, for obtaining four position corresponding four pre-stored image information and five position corresponding five image information adjacent with the current present position of described movable termination, wherein, described the 4th position is a upper position adjacent with the current present position of described movable termination, and described the 5th position is the next position adjacent with the current present position of described movable termination;
The3rd judging unit 704, for judging whether described the second pre-stored image information matches with described the 4th pre-stored image information, and whether described the 3rd pre-stored image information match with described the 5th image information, obtains the 3rd judged result;
The second closedloop determining unit 705, for when described the 3rd judged result is when being, determines that described movable termination once arrived current present position.
Finally, also it should be noted that, in this article, relational terms such as the first and second grades is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply and between these entities or operation, have the relation of any this reality or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby the process, method, article or the equipment that make to comprise a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or be also included as the intrinsic key element of this process, method, article or equipment.The in the situation that of more restrictions not, the key element being limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.
Through the above description of the embodiments, those skilled in the art can be well understood to the mode that the present invention can add essential hardware platform by software and realize, can certainly all implement by hardware, but in a lot of situation, the former is better embodiment.Based on such understanding, what technical scheme of the present invention contributed to background technology can embody with the form of software product in whole or in part, this computer software product can be stored in storage medium, as ROM/RAM, magnetic disc, CD etc., comprise that some instructions (can be personal computers in order to make a computer equipment, server, or the network equipment etc.) carry out the method described in some part of each embodiment of the present invention or embodiment.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is and the difference of other embodiment, between each embodiment identical similar part mutually referring to.For the disclosed system of embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part illustrates referring to method part.
Applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications.In sum, this description should not be construed as limitation of the present invention.
Claims (10)
1. a movable termination localization method, is characterized in that, described movable termination is provided with image acquisition units, and described method comprises:
Obtain the first image information by described image acquisition units, described the first image information is for representing the external environment in described image acquisition units acquisition range;
Extract the characteristic information in described the first image information;
Judge described characteristic information whether with pre-stored image information in characteristic information match, obtain the first judged result;
In the time that described the first judged result represents that characteristic information in described characteristic information and pre-stored image information matches, determine described movable termination present position.
2. method according to claim 1, is characterized in that, described method also comprises:
In the time that described the first judged result represents that described characteristic information does not mate with the characteristic information in pre-stored image information, according to described the first image information, calculate position and the attitude information of described movable termination;
According to described position and attitude information, carry out map structuring.
3. method according to claim 1, it is characterized in that, described pre-stored image information is to generate in the time that described movable termination arrives different positions, and described position has a upper position and the next position adjacent with described position, the pre-stored image information difference that different positions is corresponding
Described method also comprises:
In the time that described the first judged result represents that characteristic information in described characteristic information and pre-stored image information matches, determine the primary importance that described movable termination corresponding to described pre-stored image information once arrived;
Obtain corresponding the second pre-stored image information of the second place adjacent with described primary importance, wherein, the described second place is a upper position adjacent with described primary importance;
Obtain the four position corresponding four pre-stored image information adjacent with the current present position of described movable termination, wherein, described the 4th position is a upper position adjacent with the current present position of described movable termination;
Judge that whether described the second pre-stored image information matches with described the 4th pre-stored image information, obtains the second judged result;
When described the second judged result is when being, determine that described movable termination once arrived current present position.
4. method according to claim 1, it is characterized in that, described pre-stored image information is to generate in the time that described movable termination arrives different positions, and described position has a upper position and the next position adjacent with described position, the pre-stored image information difference that different positions is corresponding
Described method also comprises:
In the time that described the first judged result represents that characteristic information in described characteristic information and pre-stored image information matches, determine the primary importance that described movable termination corresponding to described pre-stored image information once arrived;
Obtain corresponding the 3rd pre-stored image information of corresponding the second pre-stored image information of the second place adjacent with described primary importance and the 3rd position, wherein, the described second place is a upper position adjacent with described primary importance, and described the 3rd position is the next position adjacent with described primary importance;
Obtain four position corresponding four pre-stored image information and five position corresponding five image information adjacent with the current present position of described movable termination, wherein, described the 4th position is a upper position adjacent with the current present position of described movable termination, and described the 5th position is the next position adjacent with the current present position of described movable termination;
Judge whether described the second pre-stored image information matches with described the 4th pre-stored image information, and whether described the 3rd pre-stored image information match with described the 5th image information, obtain the 3rd judged result;
When described the 3rd judged result is when being, determine that described movable termination once arrived current present position.
5. method according to claim 2, is characterized in that, the attitude information of the described movable termination of described calculating, comprising:
According to described the first image information, calculate described movable termination image acquisition units towards.
6. a movable termination positioning system, is characterized in that, described movable termination is provided with image acquisition units, and described system comprises:
The first image information acquisition unit, for obtaining the first image information by described image acquisition units, described the first image information is for representing the external environment in described image acquisition units acquisition range;
Feature information extraction unit, for extracting the characteristic information of described the first image information;
The first judging unit, for judging that whether described characteristic information matches with the characteristic information of pre-stored image information, obtains the first judged result;
Position determination unit, in the time that described the first judged result represents that the characteristic information of described characteristic information and pre-stored image information matches, determines described movable termination present position.
7. system according to claim 6, is characterized in that, also comprises:
Pose computing unit, when representing that when described the first judged result described characteristic information does not mate with the characteristic information of pre-stored image information, according to described the first image information, calculates position and the attitude information of described movable termination;
Map structuring unit, for according to described position and attitude information, carries out map structuring.
8. system according to claim 6, it is characterized in that, described pre-stored image information is to generate in the time that described movable termination arrives different positions, and described position has a upper position and the next position adjacent with described position, the pre-stored image information difference that different positions is corresponding
Described system also comprises:
Primary importance determining unit, in the time that described the first judged result represents that the characteristic information of described characteristic information and pre-stored image information matches, determines the primary importance that described movable termination corresponding to described pre-stored image information once arrived;
The second pre-stored image information acquisition unit, for obtaining corresponding the second pre-stored image information of the second place adjacent with described primary importance, wherein, the described second place is a upper position adjacent with described primary importance;
The 4th pre-stored image information acquisition unit, for obtaining the four position corresponding four pre-stored image information adjacent with the current present position of described movable termination, wherein, described the 4th position is a upper position adjacent with the current present position of described movable termination;
The second judging unit, for judging that whether described the second pre-stored image information matches with described the 4th pre-stored image information, obtains the second judged result;
The first closed loop determining unit, for when described the second judged result is when being, determines that described movable termination once arrived current present position.
9. system according to claim 6, it is characterized in that, described pre-stored image information is to generate in the time that described movable termination arrives different positions, and described position has a upper position and the next position adjacent with described position, the pre-stored image information difference that different positions is corresponding
Described system also comprises:
Second place determining unit, in the time that described the first judged result represents that the characteristic information of described characteristic information and pre-stored image information matches, determines the primary importance that described movable termination corresponding to described pre-stored image information once arrived;
The two or three image information acquisition unit, for obtaining corresponding the 3rd pre-stored image information of corresponding the second pre-stored image information of the second place adjacent with described primary importance and the 3rd position, wherein, the described second place is a upper position adjacent with described primary importance, and described the 3rd position is the next position adjacent with described primary importance;
The four or five image information acquisition unit, for obtaining four position corresponding four pre-stored image information and five position corresponding five image information adjacent with the current present position of described movable termination, wherein, described the 4th position is a upper position adjacent with the current present position of described movable termination, and described the 5th position is the next position adjacent with the current present position of described movable termination;
The 3rd judging unit, for judging whether described the second pre-stored image information matches with described the 4th pre-stored image information, and whether described the 3rd pre-stored image information match with described the 5th image information, obtains the 3rd judged result;
The second closed loop determining unit, for when described the 3rd judged result is when being, determines that described movable termination once arrived current present position.
10. system according to claim 7, is characterized in that, described pose computing unit comprises:
Towards computation subunit, for according to described the first image information, calculate described movable termination image acquisition units towards.
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